I can vouch for DBD::SQLite. It rocks. :) The first hurdle with SQLite is the fact that you have to have an egg before you can have chickens. What i mean is that you first have to write a script that creates (and then optionally populates) the database file. Something as trivial as:

use DBI;
use Data::Dumper;

my $dbh = DBI->connect(
    'dbi:SQLite:dbname=dbfile','','',
 #   { RaiseError => 1},
);
eval {
   $dbh->do('drop table foo');
   $dbh->do('create table foo(id int unsigned, name char(64))');
};

my $sth = $dbh->prepare('insert into foo values (?,?)');

$sth->execute(@$_) for [1,'moe'],[2,'curly'],[3,'larry'];

print Dumper $dbh->selectall_arrayref('select * from foo');
[download]

Alternatively, if you already have your data stored in another format, check out SQL Fairy before you roll your own.

UPDATE:
That's right ... thanks for pointing out my error (once again!) merlyn. :)

Here is are updated lines for the snippet above:

$dbh->do('create table foo(id integer primary key, name char(64))');

my $sth = $dbh->prepare('insert into foo(name) values (?)');
$sth->execute($_) for qw(moe curry lary);
[download]

L-LL-L--L-LL-L--L-LL-L--
-R--R-RR-R--R-RR-R--R-RR
B--B--B--B--B--B--B--B--
H---H---H---H---H---H---
(the triplet paradiddle with high-hat)

I do not think that SQLite offers auto-incremented ID's for you.

The number one FAQ entry at http://www.sqlite.org/faq.html:

(1) How do I create an AUTOINCREMENT field.
Short answer: A column declared INTEGER PRIMARY KEY will autoincrement.

-- Randal L. Schwartz, Perl hacker
Be sure to read my standard disclaimer if this is a reply.

...and using the DBI func method will pull out the value for you after an insert:

    $dbh->do( q{
        CREATE TABLE foo (
            id integer not null primary key,
            name varchar(20)
        )
    });
    $dbh->do( "INSERT INTO foo ( name ) VALUES ( 'bar' )" );
    print "ID of record: ", $dbh->func( 'last_insert_rowid' ), "\n";
[download]

Chris
M-x auto-bs-mode